6.3 Example on services SDO, PDO and NMT
Practical example based on the NODE_ID 1.
All values are shown as hexadecimal numbers and contain the COB_ID, data bytes count and the
data bytes themselves.
Data direction Type Data packet (hexadecimal) Remarks
After reset
Receive Emergency 081 | 08 | 00 00 00 00 00 00 00 00 no error
Receive Heartbeat 701 | 01 | 7F device ready for operation
Recommended configuration
Send SDO 601 | 08 | 2B 00 20 01 | 0A 00 00 00 Register H0, protection level
Walue 0x000A
Receive SDO 581 | 08 | 60 00 20 01 | 0A 00 00 00
Send SDO 601 | 08 | 2B 00 20 0F | 00 00 00 00 Register H14, D1 Off
Value 0x0000
Receive SDO 581 | 08 | 60 00 20 0F | 00 00 00 00
Send SDO 601 | 08 | 2B 00 20 05 | 01 00 00 00 Register H04, control mode
Value 0x0001
Receive SDO 581 | 08 | 60 00 20 05 | 01 00 00 00
Set speed
Send SDO 601 | 08 | 2B 00 20 03 | C8 00 00 00 Register H2, Speed 200
Value 0x00C8
Receive SDO 581 | 08 | 60 00 20 03 | C8 00 00 00
Send SDO 601 | 08 | 2B 00 20 03 | 20 03 00 00 Register H2, Speed 800
Value 0x0320
Receive SDO 581 | 08 | 60 00 20 03 | 20 03 00 00
Send SDO 601 | 08 | 2B 00 20 03 | 00 00 00 00 Register H2, Speed Stop
Value 0x0000
Receive SDO 581 | 08 | 60 00 20 03 | 00 00 00 00
ECBlue Watchdog Settings
Send SDO 601 | 08 | 2B 00 20 03 | C8 00 00 00 Register H2, Speed 200
Value 0x00C8
Receive SDO 581 | 08 | 60 00 20 03 | C8 00 00 00
Send SDO 601 | 08 | 2B 00 20 06 | F4 01 00 00 Register H05, Vorl
Value 0x01F4
Receive SDO 581 | 08 | 60 00 20 06 | F4 01 00 00
Send SDO 601 | 08 | 2B 00 20 12 | 03 05 00 00 Value H17, Watchdog 5s, Mode 3
Value 0x0503
Receive SDO 581 | 08 | 60 00 20 12 | 03 05 00 00
Send SDO 601 | 08 | 40 01 20 0F | 00 00 00 00 e.g. read out register I14 periodically
and maintain communication
Receive SDO 581 | 08 | 4A 01 20 0F | C8 00 00 00
Send SDO 601 | 08 | 2B 00 20 12 | 00 00 00 00 Register H17, Watchdog Aus
Value 0x0000
Receive SDO 581 | 08 | 60 00 20 12 | 00 00 00 00
Operating Instructions AM-CAN-OPEN – model series Communication
L-BAL-E199-GB 1846 Index 005 Part.-No. 00163405-GB
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